Apparatus and method for detection of hazardously energized objects

ABSTRACT

A method and apparatus for detecting and identifying hazardous objects in electric fields. In one embodiment, the apparatus comprises two or more sensor probes mounted on a mobile vehicle and spaced apart from one another, wherein each sensor probe of the two or more sensor probes generates a signal corresponding to an electrical field; a processor, coupled to the two or more sensor probes, for processing the signals from the two or more sensor probes to generate at least one processed signal based on a distance between at least two sensor probes of the two or more sensor probes; and an indicator, coupled to the processor for providing, based on the at least one processed signal, an indication of a hazardously energized object in the electric field.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims benefit of U.S. provisional patent applicationSer. No. 62/455,200, entitled “Method and Apparatus for Detection ofHazardously Energized Objects” and filed Feb. 6, 2017, which is hereinincorporated in its entirety by reference.

BACKGROUND Field

The present invention relates to the detection of electric fields, andmore particularly, to apparatus and methods of detecting hazardouslyenergized objects using the electric fields.

Description of the Related Art

Large power distribution systems, especially those in large metropolitanareas, are subject to many stresses, which may occasionally result inthe generation of undesirable or dangerous anomalies. An infrequent, butrecurrent problem in power distribution infrastructures is the presenceof “stray voltages” in the system. These stray voltages may presentthemselves when objects, such as manhole covers, gratings, street lightpoles, phone booths and the like become electrically energized (e.g., at120V AC). An electrically conductive path may be established betweenunderground secondary network cabling and these objects through physicaldamage to electrical insulation resulting in direct contact betweenelectrically conductive elements or through the introduction of wateracting as a conductor. These energized objects present obvious dangersto people and animals in the general public.

Detecting the existence of stray voltages by means of assessingelectromagnetic radiation is not practical because the wavelength of a60 Hz electromagnetic wave is approximately 5,000 kilometers (i.e.,about 3,107 miles) in length. To effectively radiate electromagneticwaves, a radiating object (e.g., manhole cover or light pole) shouldrepresent at least ¼ wavelength (i.e., about 776.75 miles) and areceiving “antenna” should be 1½ to 2 wavelengths away from the emittingsource (about 6,214 miles). Two wavelengths is the distance required forelectric and magnetic fields to come into time phase and spacequadrature where they behave as a plane wave. A detection system willtypically be perhaps 10 ft. to 30 ft. away from the energized object, sothat detection will take place in the extreme near field where electricand magnetic fields exist in a complex temporal and spatial pattern, notas a unified electromagnetic plane wave. Thus, electric and magneticfields must be considered and measured separately.

Due to power distribution networks typically having many miles of buriedcable carrying perhaps thousands of amperes of current, the magneticfield in any one location due to such normal load is likely to be veryhigh. Detecting magnetic fields arising from a relatively weak strayvoltage anomaly would be very difficult due to the interference fromstrong ambient magnetic fields arising from normal loads and, therefore,it has been determined that the best way to detect a stray voltageanomaly is to assess the electric field.

Techniques for the detection of stray voltages are typically carried outby manual inspection of surrounding electrical infrastructures for signsof leaking current. An inspection team equipped, for example, with handheld detection devices may be employed to make direct physicalinspections of electrical infrastructures. However, inspectors usingthese detection devices are typically required to make contact withportions of electrical infrastructures, such as streetlamp bases ormanhole covers, in order to obtain accurate measurements for determiningthe existence of potentially dangerous stray voltages. These manualinspections are undoubtedly time-consuming and give a false sense ofsecurity.

Accordingly, there exists a need to provide a more efficient means fordetecting and identifying sources of stray voltage anomalies andhazardously energized objects over vast geographic areas, particularly,populated urban, suburban and rural areas.

SUMMARY

Embodiments of the present invention generally relate to a method andapparatus for detecting and identifying hazardous objects in electricfields substantially as shown and/or described in connection with atleast one of the figures, as set forth more completely in the claims.

Various advantages, aspects and novel features of the presentdisclosure, as well as details of an illustrated embodiment thereof,will be more fully understood from the following description anddrawings

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present invention, briefly summarized above anddiscussed in greater detail below, can be understood by reference to theillustrative embodiments of the invention depicted in the appendeddrawings. It is to be noted, however, that the appended drawingsillustrate only typical embodiments of this invention and are thereforenot to be considered limiting of its scope, for the invention may admitto other equally effective embodiments.

FIG. 1 is a schematic diagram of an exemplary sensor system inaccordance with some embodiments of the present invention;

FIGS. 2-2A are schematic diagrams illustrating the operation of thesensor system employing digital electronic processing in accordance withsome embodiments of the present invention;

FIGS. 3-5 are illustrations of a detection system unit (DSU) inaccordance with some embodiments of the present invention;

FIG. 6 is a schematic diagram of an exemplary sensor system utilizingthe DSU illustrated in FIG. 5;

FIGS. 7-8 are illustrations of an isometric view of a tri-axial sensingprobe arrangement mounted in a radar dome (radome) arrangement inaccordance with some embodiments of the present invention;

FIG. 8A is an illustration of a top view tri-axial sensing probearrangement mounted in a radome arrangement in accordance with someembodiments of the present invention;

FIG. 9 is an illustration of a vehicle mounted DSU in accordance withsome embodiments of the present invention;

FIG. 10 is an exemplary screen display of a graphical computer interfacein accordance with some embodiments of the present invention;

FIG. 11 illustrates an exemplary login display of the graphical userinterface in accordance with some embodiments of the present invention;

FIG. 12 illustrates an exemplary main display of the graphical userinterface populated with sensor data in accordance with some embodimentsof the present invention;

FIG. 13 illustrates an enlarged view of the control panel of the maindisplay of the graphical user interface in accordance with someembodiments of the present invention;

FIG. 14 illustrates an exemplary preferences display produced by thegraphical user interface upon selection of a preferences option inaccordance with some embodiments of the present invention;

FIG. 15 illustrates an exemplary standby display produced by the systemupon selection of an event capture option provided on the main displayin accordance with some embodiments of the present invention;

FIG. 16 illustrates an exemplary event capture display produced by thesystem upon completion of the processing for a request to capture anevent in accordance with an embodiment of the present invention;

FIGS. 17-18 illustrate an enlarged view of a detected stray voltageanomaly as it may be provided on the exemplary event capture display;

FIG. 19 illustrates an enlarged view of a playback control panel of theevent capture display in accordance with some embodiments of the presentinvention;

FIG. 20 illustrates an enlarged view of an objects election section ofthe playback control panel in accordance with some embodiments of thepresent invention;

FIG. 21 illustrates an enlarged view of a saved events section of theplayback control panel in accordance with some embodiments of thepresent invention;

FIG. 22 is a flowchart illustrating the steps employed by the system inmonitoring electric fields in accordance with some embodiments of thepresent invention;

FIG. 23-23A are illustrations of a electric field profile detected bythe DSU in accordance with some embodiments of the present invention;

FIG. 24 is a schematic flow diagram illustrating a method for obtaininga running average and an alarm trigger in accordance with someembodiments of the present invention;

FIG. 25 is a graphical presentation of an example of data produced bythe method for obtaining a running average and an alarm trigger inaccordance with some embodiments of the present invention;

FIG. 26 is a block diagram of a differential signal comparator coupledto the digital signal processor in accordance with exemplary embodimentsof the present invention;

FIG. 27 illustrates a perspective view of a configuration of twoelectric field sensors mounted to the rear of an automotive vehicle inaccordance with exemplary embodiments of the present invention;

FIG. 28 illustrates a top-down view of a configuration of two electricfield sensors mounted to the rear of an automotive vehicle in accordancewith exemplary embodiments of the present invention;

FIG. 29 illustrates a graphical plot showing the output of the electricfield sensors shown in FIGS. 27-28 in accordance with exemplaryembodiments of the present invention;

FIG. 30 illustrates a noise-reduced graphical plot showing the output ofthe electric field sensors shown in FIGS. 27-28 in accordance withexemplary embodiments of the present invention;

FIG. 31 illustrates a perspective view of configuration of electricfield sensors mounted to the front and back of an automotive vehicle inaccordance with exemplary embodiments of the present invention;

FIG. 32 illustrates a back view of configuration of electric fieldsensors mounted to the front and back of an automotive vehicle inaccordance with exemplary embodiments of the present invention;

FIG. 33 illustrates a top-down view of configuration of electric fieldsensors mounted to the front and back of an automotive vehicle inaccordance with exemplary embodiments of the present invention;

FIG. 34 illustrates a graphical plot of the output of the sensorsillustrated in FIGS. 31-33 in accordance with exemplary embodiments ofthe present invention;

FIG. 35 illustrates a graphical plot of the output of the sensorsillustrated in FIGS. 31-33 in accordance with exemplary embodiments ofthe present invention;

FIG. 36 is a flow diagram of a method for detecting and identifyinghazardous objects in electric fields in accordance with one or moreembodiments of the present invention; and

FIG. 37 illustrates user displays showing outputs of the electric fieldsensors of FIG. 33 in accordance with exemplary embodiments of thepresent invention.

To facilitate understanding, identical reference numerals have beenused, where possible, to designate identical elements that are common tothe figures. The figures are not drawn to scale and may be simplifiedfor clarity. It is contemplated that elements and features of oneembodiment may be beneficially incorporated in other embodiments withoutfurther recitation.

DETAILED DESCRIPTION

Embodiments of the present invention generally relate to apparatus andmethods for detecting a stray voltage anomaly in an electric field. Forpurposes of clarity, and not by way of limitation, illustrativedepictions of the present invention are described with references madeto the above-identified drawing figures. Various modifications obviousto one skilled in the art are deemed to be within the spirit and scopeof the present invention.

FIG. 1 is a schematic diagram of an exemplary sensor system inaccordance with some embodiments of the present invention. FIGS. 2-2Aare schematic diagrams illustrating the operation of the sensor systememploying digital electronic processing in accordance with someembodiments of the present invention. To best understand the inventionthe reader should refer to FIGS. 1, 2 and 2A simultaneously.

In accordance with some embodiments of the present invention, sensorsystem 100 generally comprises a detection system unit (DSU) 110, whichmay receive electric field measurements from one or more sensor probes,wherein each sensor probe comprises of at least one electrode. Forexample, sensor probes 110 x, 110 y or 110 z each may respectivelycomprise two electrodes 110 x-110 x, 110 y-110 y and 110 z-110 z. TheDSU 110 may employ any number of sensor probes for purposes of measuringan electric field in any particular area of interest being surveyed forstray voltage anomalies in electric fields, such as the embodimentsdiscussed below with respect to FIGS. 3-5 and 7-8A. For example, the DSU110 may employ only one of said sensor probes 110 x, 110 y or 110 z,additional sensor probes to supplement the measurements obtained bysensor probes 110 x, 110 y or 110 z or, any other suitable combinationof sensor probes. For example, in some embodiments, it may be such thatthe signals from one pair of electrodes do not ordinarily provideelectric field data that is of interest, e.g., as where high-fieldproducing overhead power distribution wires are present, and so the pairof electrodes, e.g., 110 z-110 z, that sense the vertical fieldcomponents may be, but need not be, omitted. In some embodiments, theDSU 110 may employ a multi-axis sensor probe arrangement as the onesdescribed, for example, in commonly owned U.S. Pat. No. 7,248,054, filedSep. 13, 2005 and issued on Jul. 24, 2007, and U.S. Pat. No. 7,253,642,filed Sep. 13, 2005 and issued on Aug. 7, 2007, which are herebyincorporated by reference in their entirety.

The sensor system 100 employs a digital processing system (DPS) 112capable of processing electrode data provided by the DSU 110 in nearreal time (e.g., with less than one second latency). It someembodiments, such as the embodiment depicted in FIG. 1, the DPS 112 isarranged to interface directly to a three-axis sensor probe arrangement,such as DSU 110.

In some embodiments, the DPS 112 comprises a multichannelanalog-to-digital converter (ADC) 122, a digital signal processor (DSP)124, a memory (EEPROM) 126, an audio amplifier 128, audible transducingdevice (speaker) 130, one or more data converters 132 (e.g.,uni-directional or bidirectional SPI to RS-232 converters), and a sourceof electrical power, such as a power converter 134. The power converter134 provides the various voltages for operating the DPS 112 and otherelectronic devices. In some embodiments, electrical power for sensorsystem 100 may be obtained from any convenient electrical power source,such as the electrical system or battery 105 of the vehicle (e.g.,truck) on or with which sensor system 100 is operated or a separatebattery.

The DPS 112 is coupled to the DSU 110 via an input (analog) section 114,which comprises low pass filters 116 and buffer amplifiers 120. In someembodiments, for example such as the embodiment depicted in FIG. 1, theinput section 114 comprises at least one (six shown) low pass filters116, one for each electrode of sensor probes 110 x, 110 y, 110 z, eachpreceded by an amplifier 118, and followed by a buffer amplifier 120. Insome embodiments the amplifier 118 has a high input impedance andexhibits some gain.

In some embodiments, the low pass filter 116 cutoff frequency may beselected to minimize the effects of aliasing. For example, where the ADC122 samples data provided from the sensor probes 110 x, 110 y, 110 z ata rate of 960 samples per second, a suitable low pass filter 116 mayhave a cutoff frequency (at −3 dB) of about 240 Hz and a −24 dB peroctave slope. Thus, at 900 Hz, the first frequency that directly aliasesthe 60 Hz frequency of interest, the low pass filter 116 supplies arejection or attenuation of about 46 dB.

In some embodiments, a suitable ADC 122 may operate at a conversionburst rate of about 842 KSPS (kilo-samples per second). For example,every 1/960^(th) of a second the ADC 122 is commanded to perform 96conversions, specifically 16 readings of each of six electrodes 110x-110 x, 110 y-110 y, 110 z-110 z. The readings converted by ADC 122 maybe alternated such that temporal distortion effects are minimized. Forexample, ADC 122 converts plate electrode 1 (+110 z) data, then plateelectrode 2 (−110 z) data, and so on through plate electrode 6 (−110 x).It then repeats this six-conversion sequence 16 times for a total of 96conversions. This burst of conversions takes approximately 114microseconds (96/842 KHz), which is approximately 11% of the 1/960^(th)of second allotted for conversion, while reducing quantization errors bya factor of four. Other ADC arrangements and/or other ADC controlarrangements may be employed.

The data may be transferred into memory 126 from the ADC 122 via aserial link driven by a Direct Memory Access (DMA) function within theDSP 124. In some embodiments, such as in FIG. 2, differential data maybe obtained from single ended data provided to the DSP 124 by thenegation 221 of one of the pair of single ended data values and thesumming 223 of one single ended data value with the negated data value.In such embodiments, the single-ended signals from electrodes 110 x-110x, 110 y-110 y, 110 z-110 z may be coupled to thedifferential-to-single-end amplifiers 118 that provide balanced inputswith gain and convert the signal to single ended analog format tosimplify subsequent processing, e.g., by lowpass filters 116. Amulti-stage active low pass filter 116 then processes the signal toreduce signals other than the desired 60 Hz signal, i.e. to helpseparate the desired signal from near frequency interfering E-fieldsignals. The signal is then further amplified and buffered and routed toADC 122.

Upon completion of each 96 event burst conversion, as described above inreference to the operation of ADC 122, the DSP 124 averages the data toobtain six values (one for each of the six electrodes 110 x-110 x, 110y-110 y, 110 z-110 z), and stores the six values, e.g., in a single rowof a 6×256 point matrix of a memory internal to DSP 124. This action isrepeated 256 times until the entire matrix of the internal memory of DSP124 is filled, at which point DSP 124 performs six Fast FourierTransforms (FFTs) 224 on the six column vectors. Each FFT 224 yields afrequency domain representation of the prior 256 samples (for eachelectrode 110 x-110 x, 110 y-110 y, 110 z-110 z) in the form of 128complex values. Each of these complex values represents the phase andamplitude of the opposing electrode 110 x-110 x, 110 y-110 y, 110 z-110z signal within a bin 226 of 960 Hz/256=3.75 Hz. The 16^(th) FFT bin 226contains the 60 Hz information, which is the only information that is ofinterest with respect to sensing stray 60 Hz voltages. Processor DSP 124calculates the magnitude squared of this bin 226 data (its real partsquared summed with its complex part squared), and assigns this value asthe field strength for the electrode 110 x-110 x, 110 y-110 y, 110 z-110z that produced it. This process yields six field strength values at arate of 960 Hz/256=3.75 Hz.

In some embodiments, such as depicted in FIG. 2A, differences betweentime domain values for the electrodes 110 x-110 x, 110 y-110 y, 110z-110 z are calculated, resulting in a 3×256 point matrix, which is thenprocessed using the FFT 224 as described in the previous paragraph.

In some embodiments, measured field data from the sensor probes 110 x,110 y, 110 z is stored as measured (“raw” data), e.g., as six sets ofdata as produced by the electrodes 110 x-110 x, 110 y-110 y, 110 z-110 zor as three sets of differential data as produced the three pair ofprobe electrodes 110 x-110 x, 110 y-110 y, 110 z-110 z, or both. Datamay be stored in a memory 126 of the DSP 124, or provided to a computer136 or to any other device for storage and/or further analysis at theuser's desire.

The computer 136 may provide a graphical user interface (GUI) 138 for anoperator to control the operation of the sensor probes 110 x, 110 y, 110z, and sensor system 100, in particular, the DSP 124, and to monitorfield data as measured. For example, an operator may adjust the valuesof the constants and scaling factors utilized in the detection andaveraging processing for producing an audible alarm as described. Anexample of a command set for computer 138 is set forth below. Thecommands may be executed by single keystroke entries, plural keystrokeentries, or mouse clicks. The data may be stored in any format thatwould allow the stored data to be exported to a readable format, such asa database, spreadsheet, text document, or the like.

Sensor System Command Set Listing

A brief description of example sensor system commands that are availableto a user of the sensor system in accordance with some embodiments ofthe present invention follows. Commands may be executed in response tothe symbol (given at the left margin below) being entered via thekeyboard of computer or by a point-and-click entry. Note: Unrecognizedcharacters generate a question mark “?” and an echo of that character toindicate that an invalid command has been entered.

H Display Help Screen—Causes the Help screen that lists all commands tobe displayed.

{ Enter GPS Console Mode—GUI directly communicates with GPS and allkeyboard entries are forwarded to GPS, i.e. not interpreted as SVDcommands)

} Exit GPS Console Mode

Z Display Zulu time to the console

V Display current software Version number

L Display the current GPS Latitude, Longitude, Elevation and Zulu time

> Enter Stray Voltage Detect Data Spew Mode—Data for all six probeplates is displayed at the 3.75 Hz rate at which it is produced

< Exit Stray Voltage Detect Data Spew Mode

+ Increase SVD audio alarm manual threshold by 1 dB (only in “P” or “D”beeper modes)

− Decrease SVD audio alarm manual threshold by 1 dB (only in “P” or “D”beeper modes)

P Differential Probe Mode OFF—Beep (audio tone) if signal from any probeplate exceeds the SVD threshold. (500 Hz tone @ 50% duty cycle at 3.75Hz rate)

D Differential Probe Mode ON—Audio tone pitch is based on average ofsignals of all three differential plate pairs if in “S” or “U” modes(otherwise 500 Hz tone @ 50% duty cycle at 3.75 Hz rate if anydifferential pair of probes exceeds SVD threshold)

X Disable (or mute) the beeper (audio tone) until “P” or “D” or “S”command

S Audio tone pitch set proportional to 60 Hz field strength *squared*

U Audio tone pitch is un-weighted average of last 32 magnitude squaredvalues.

I Toggle display to the next of speed (in mph), distance (in wheel speedpulses) and OFF

F Display current vehicle speed (in mph).

A Put DSP in Automatic (data streaming) mode to display Log file as itis generated

M Put DSP in Manual mode (for terminal control), exiting the “A” mode

# Spew data display for the three differential probe pairs at a 60lines/sec rate.

T Increase the “singer” (audio tone) cutoff threshold by ^(˜)0.5 dB anddisplay new value

t Decrease the “singer” (audio tone) cutoff threshold by ^(˜)0.5 dB anddisplay new value

G Increase “singer” (audio tone) pitch gain by ^(˜)0.5 dB and displaynew value

g Decrease “singer” (audio tone) pitch gain by ^(˜)1 dB and display newvalue

* Restore default settings.

0 Operate in Differential Mode with tone based on average of all sixplates (same as D above)

1 Operate in Differential Mode with tone based on plates 1-2 (top andbottom plates)

2 Operate in Differential Mode with tone based on plates 3-4 (left andright plates)

3 Operate in Differential Mode with tone based on plates 5-6 (fore andaft plates)

4 Connect X auxiliary electrodes together (toggle connect/disconnect)

5 Connect Y auxiliary electrodes together (toggle connect/disconnect)

6 Connect Z auxiliary electrodes together (toggle connect/disconnect)

$ Connect X auxiliary electrodes to common (toggle connect/disconnect)

% Connect Y auxiliary electrodes to common (toggle connect/disconnect)

{circumflex over ( )} Connect Z auxiliary electrodes to common (toggleconnect/disconnect)

To this end, DSP 124 may further comprise a data streamer 240 whichprovides the unaveraged data independent of the settings of softwareswitches 229, 231. Data provided by data streamer 240, e.g., in a SPIformat, may be converted into another standard digital data format,e.g., into RS-232 format, by data converters 132. Data converters 132may also convert data received in a given format, e.g., RS-232 format,into a format compatible with DSP 124, e.g., SPI format, as is the casefor data provided by global positioning system (GPS) receiver 140. GPSreceiver 140 may be any locating device capable of receiving signalsfrom an antenna 142 broadcast by one or more GPS satellites orbiting theEarth to determine therefrom its location on the Earth.

Once the six field strength values (or three differential field strengthvalues) are determined, higher-level procedures employ these six values(or three values) to produce data in a form that is meaningful to theuser. For example, a simplistic detection alarm is available to the userthat compares the six field strength values (or three differential fieldstrength values) to a user-defined threshold, and activates a simpleaudible alarm provided by an audio amp 128 and a speaker 130, forexample, a pulsing audio alarm, if any of these six values exceeds thethreshold.

In some embodiments, the detection alarm may produce a continuous outputwhose pitch is proportional to the field strength. To accomplish thecontinuous aspect of this audible output, the field strength values maybe calculated at a rate far greater than the basic 3.75 Hz of the FFTdata. To this end, the processing algorithm performs the 256-point FFT224 on the most recent 256 samples collected (for each electrode 110x-110 x, 110 y-110 y, 110 z-110 z) as before, but to perform thisoperation at a 60 Hz rate. Thus after every 16 additional averagedsample set values are collected, the FFT 224 is re-performed, producingthe six field strength values (one for each electrode 110 x-110 x, 110y-110 y, 110 z-110 z) at a rate of 960 Hz/16=60 Hz. The large degree oftime domain overlap from each FFT 224 to the next FFT 224 while usingthis process produces a far smoother output stream than is produced atthe basic 3.75 Hz rate.

The field strength values produced by the FFT 224 process range fromabout zero to about two million. Reasonable example frequencies audibleto humans for this type of detection system would fall into a rangebetween approximately 70 Hz and approximately 3 KHz. The 16-bittimer-counter in the DSP 124 may further comprise a 4-bit prescaler thatallows its incident clock to be pre-divided (prescaled) by aprogrammable value between about 1 to about 16. With a prescale factorof 16, an additional divide-by-two frequency reduction occurs due to thetoggling nature of the counter-timer output as described above, and at amaximum period value of 2{circumflex over ( )}16=65536, an audio tone of144 MHz/(16*2*65536)=68.66 Hz results. Because little useful data iscontained in field strength values less than about 10, these fieldstrength values are programmed to produce no audible output. For a fieldstrength of 10, a 69.3 Hz tone results, brought about by 64939 beingwritten into the timer-counter period register.

To compensate for the inability of typical human hearing to accuratelydiscern pitch differences of an eighth of a step (a half-step is definedas a 2{circumflex over ( )}( 1/12) change in pitch, equivalent thedifference between adjacent notes in the equal tempered chromatic scalecommonly used in western music), the pitch table used is based upon thisamount of pitch change, so that discrete pitch changes would beperceived as a continuum by a human listener. Thus, an incremental pitchchange in the audio output of the sensor system 100 results in afrequency change of +/−(1−2{circumflex over ( )}(1/96)), or +1-0.7246%.The effect of an apparently continuous pitch output is thus achievedfrom a discrete pitch system. The 512-step pitch table employed covers apitch range from 69.3 Hz to 2{circumflex over ( )}(512/96)*69.3=2.794KHz.

In some embodiments, the field strength data from the DSP 124 may rangefrom about 10 to about 2,100,000, or approximately 5.3 decades. Thisdata is likewise parsed logarithmically to fit the 512 element pitchtable, such that any increase of 10{circumflex over ( )}(1/96) wouldproduce an increase of one increment in pitch. So for every 10 dB thatthe field strength increases, the pitch of the audio output 275increases by about one octave. The period value written into the timercounter is thus 144×10{circumflex over ( )}6 divided by 32 (or 4.5million) divided by the desired output frequency. The 512-element pitchtable is thus made up of two columns, one representing field strength,and one representing timer-counter period. The process to determine theoutput audio pitch finds the field strength table value nearest to, butnot greater than, the current actual field strength value, and appliesthe accompanying period value to a numerically controlled oscillator(NCO) 232.

In some embodiments, such as the embodiment described above, NCO 232comprises both a period register and a timer register. When the timerregister counts down to zero, it reloads from the period register andthen counts down from the period value. The process described may onlyupdate the period register, thus avoiding the generation of transientpitch discontinuities that would sound to the ear as a “pop” or “crack.”The count register may be updated during high-to-low or low-to-hightransitions of the audio output, thereby producing a continuousquasi-portamento output tone.

In some embodiments, for example when an audio tone is the principaloutput to the user, further smoothing of the data may provide what couldbe considered a more pleasing audible output. Pitch discontinuitiescaused by vibration of the electrodes 110 x-110 x, 110 y-110 y, 110z-110 z and other transient effects may make the audio outputsignificantly less meaningful to the user. An unweighted 32-pointaveraging filter 227 directly preceding the NCO 232 in the audioprocessing chain, although it introduced an additional latency of 32/60Hz=0.533 seconds to the system 100, may significantly mitigate thesetransient effects, thus increasing user effectiveness at interpretingthe audio data. The total system latency, with this additional averagingfilter 227 enabled (it can be enabled or disabled by the user viasoftware switch 231), is thus 32/60 Hz+256/960 Hz=0.8 seconds. This isspecifically the latency between the detection of a field by the sensorprobe 110 x, 110 y, 110 z and its resultant tone production by the audiosystem (e.g., audio amplifier 128 and speaker 130).

In some embodiments, the software of DSP 124 may be structured tosupport differential data when using the 60 Hz output data rate mode.Differential probe electrode data may be used to provide a highersignal-to-noise ratio compared to that of any single plate electrode.The user may be given the capability to select, e.g., setting softwareswitches 229, 231, via the graphical user interface (GUI) 138 ofcomputer 136, which of electrodes 110 x-110 x, 110 y-110 y, 110 z-110 zto use to drive the system audio amplifier 128 and speaker 130, plus afourth option, the average 228 of all three pairs. The 60 Hz output datathen controls a numerically controlled oscillator (NCO) 232 within DSP124 for producing an audio pitch (tone) that is proportional to fieldstrength. Because the perception of pitch in humans is logarithmic, theraw field strength data is converted to a logarithmic scale by DSP 124,which may be accomplished in any convenient manner, e.g., by means of alook-up table.

In some embodiments, for certain DSP 124 devices, e.g., a typeTMS320VC5509 digital signal processor available from Texas Instrumentslocated in Dallas, Tex., the NCO 232 producing the audio output(nominally a square wave) is the output of a timer-counter integral tothe DSP 124 integrated circuit (IC). The DSP 124 sets the frequency ofthis timer-counter by writing to it a period value. The nominal DSP 124clock (144 MHz, in one example) causes the timer-counter to count downfrom this period value to zero, at which point an output signal togglesstate from high to low (or from low to high).

In some embodiments, a Global Positioning System (GPS) receiver 140provides a location reference including latitude, longitude, elevation,time and date so that the location of the sensor system 100 is known toa reasonably high precision. GPS position data may be exported to aconventional GPS mapping software for utilization. The GPS locationinformation may be stored, e.g., in the memory of DSP 124 or of computer136, so that there is a stored precision location and time referenceassociated with the stored measurements of 60 Hz field data from the DSU110.

Thus, the GPS location data provides a record of the location at whicheach detected stray voltage field was detected and the time thereof, asmay be desired for subsequent analysis, e.g., for reviewing the locationof a stray voltage anomaly and identifying the source thereof. Becausethe peak of the response to a source of stray voltage anomaly cannot beascertained until after the vehicle has passed the source, the exactlocation of the source may not be observed until after the time at whichit is detected, i.e. until after it is passed. While having this strayvoltage and location data recorded is desirable and beneficial, in atypical service environment, e.g., on a city street, it is not practicalto stop the vehicle carrying system each time a stray voltage isdetected, or to back the vehicle up to ascertain the exact location atwhich the detection took place.

Because the sensor system 100 may be operated in urban/city environmentswhere buildings and other obstacles distort and/or block signals from aGPS satellite system from reaching the GPS antenna 142 via a directpath, GPS location information may have degraded accuracy, or may not beavailable. Other means of determining the location of the sensor system100, such as a wheel speed sensor 144, may be utilized in place of, orin conjunction with, the GPS location information. Typically, wheelspeed sensor 144 may detect revolutions of wheel 146 and, because thecircumference of wheel 146 is known, distance and speed can bedetermined from the revolution of wheel 146.

For example, the wheel speed sensor 144 may produce four signals,typically pulses, for each revolution of wheel W, wherein each signalrepresents about 16 inches (about 40-41 cm) of linear travel. Mostmanhole covers MHC are about 30-40 inches (about 0.75-1.0 m) indiameter, and so wheel speed indications every one to two feet (about0.3 to 0.6 m) is sufficient to locate a manhole MHC cover having strayvoltage thereon. One suitable embodiment of wheel speed sensor 144utilizes a Hall-effect sensor mounted so that the wheel lugs (studs andnuts) that secure wheel W to an axle pass close enough that theHall-effect sensor produces a detectable output pulse therefrom.

This may advantageously eliminate the need for a transmitted or other 60Hz timing reference and, therefore, it may be disposed on and operatedfrom a vehicle moving at a substantial speed, e.g., up to 15-25 milesper hour (about 24-40 km/hr), or faster. In addition, this allowsprocessing of the sensed stray voltage data in essentially “real time”so as to facilitate an operator understanding and responding to thesensed data. For example, in some embodiments the sensor system 100 maydetect an energized manhole cover at a distance of about 15 feet (about4.5 meters) when moving at speeds of up to about 10 mph (about 16 km/hr)or less, and consistently detect an energized light pole at a distanceof about 25 feet (about 7.5 meters) when moving at speeds of up to about20 mph (about 32 km/hr) or less.

In some embodiments, the sensor system 100 may additionally comprise animaging system unit (ISU) 106, which may receive video input from one ormore cameras. The ISU 106 may employ any number of cameras suitable forproviding streaming images of a patrolled scene. Cameras employed may bevideo cameras, stereo cameras, various digital cameras, a combination ofthe aforementioned cameras or any other suitable camera and arrangementof cameras suitable for imagining a patrolled scene.

In some embodiments, one or more of cameras may be provided for imagingthe environs where sensor system 100 is employed. For example, wheresensor system 100 is deployed on a patrol vehicle or trailer, twocameras may be provided thereon, wherein each camera is directed to viewin a direction about 90° to the left of the direction of travel and 90°to the right of the direction of travel, so that images of what ispresent to the left and to the right of the patrolling vehicle areobtained. Video images therefrom may be recorded sensor system 100traverses a patrolled environment.

Video images may be obtained at a standard video rate, e.g., at 30 or 60frames per second, but may be at much slower rates, e.g., one or twoframes per second, consistent with the speeds at which the patrollingvehicle moves. For example, if a vehicle is moving at between 10 and 20mph (about 14-28 feet per second or about 4.2-8.5 m/sec.), video at atwo frames per second video rate would provide a new image forapproximately each 14 feet (about 4.2 m) or less of travel, which shouldbe sufficient to identify the location at which the stray voltage wasdetected.

The video images may all be recorded (stored) or only selected imagesmay be recorded. In some embodiments, video images are stored in a videoframe data buffer having a capacity to store a number of frames of videodata for a set period of time. As each new frame is stored, the oldestprevious frame is lost. Thus, the video data buffer contains videoframes for the most recent period of time. In some embodiments, a “framegrabber” card, in the form of a PCMCIA card or an internal card, may beemployed to synchronize electric field data sensed by DSU 110 withprocessed video data from ISU 106.

Upon detection of a stray voltage, the operator can cause the videoimages to be stored in a more permanent memory, or in another buffer,e.g., by activating a “Capture” function of computer 136, whereby thevideo of the scenes to the left and to the right of the vehicle over athirty second period including the time at which the stray voltage wasdetected are stored and may be reviewed at the operator's convenience,e.g., either at that time or at a later time. Such storing action may beprovided by inhibiting the video buffer from accepting additional framesof video data, thereby freezing the data then stored therein, or may beby transferring the data then stored in the video buffer to anothermemory device, such as the hard drive of computer 136 and/or a removablememory, e.g., a floppy disk, a CD ROM disk, a thumb drive, a memorycard, a memory stick, or the like.

In some embodiments, in addition to storing the video images, the audiotones produced by the sensor system 100 (and/or data representing thetones), the GPS location data, the wheel speed sensor 144 data, or acombination thereof, are stored so that the video images may be reviewedin synchronism with the detection tone (and/or data representing thetone) and the GPS location to allow a user/operator to more accuratelylocate where the stray voltage was detected. For example, upon play backof the video data, the GPS location information may be displayed and/orthe audio tone may be reproduced, so that the operator can accuratelylocate the source of the stray voltage. Control thereof may by icons andother controls provided by a graphical user interface (GUI) 138 ofcomputer 136, such as described below with respect to FIGS. 10-21.Playback of the synchronized stored data may also be utilized fortraining personnel in operation of sensor system 100.

In some embodiments, the sensor system 100 may further comprise atransceiver component 148 configured to transmit and receive datatransmissions to and from remote transceivers. For example, transceivercomponent 148 may be a transceiver of the type that is compatible withWi-Fi standard IEEE 802.11, BLUETOOTH™ enabled, a combination of localarea network (LAN), wide area network (WAN), wireless area network(WLAN), personal area network (PAN) standards or any other suitablecombination of communication means to permit transmission of data. Forexample, transceiver component 148 may be a BLUETOOTH™ enabled device,thereby providing a means for communicating stray voltage relatedinformation between sensor system 100 and a remote device, such as apersonal digital assistants (PDAs), cellular phones, notebook anddesktop computers, printers, digital cameras or any other suitableelectronic device, via a secured short-range radio frequency.Thereafter, a utility member equipped with the remote device configuredto receive the stray voltage related communication may be dispatched toa site determined to have a potential stray voltage anomaly for purposesof neutralizing the anomaly. It should be noted that the aforementionedare provided merely as exemplary means for wireless transmission ofstray voltage related data. Other suitable wireless transmission andreceiving means may be employed in the present invention.

The computer 136 or other suitable computing system may provide a GUI138 for an operator to control the operation of sensor system 100,particularly measurement and processing components associated with DSU110, and to monitor electric field data as measured. For example, anoperator may adjust the values of the constants and scaling factorsutilized in the detection and averaging processing for producing anaudible alarm (described in detail below). The computer 136 may alsoprovide a convenient means for storing a record or log of the measuredfield and location (GPS) data for subsequent review and/or analysis, asmight be desired for determining when and where a stray voltage anomalyexisted.

GUI 138 receives data, directly or indirectly, from various componentsdescribed in conjunction with sensor system 100 and, accordingly,displays them to the operator for purposes of controlling and monitoringthe detection of stray voltage anomalies present in patrolled areas. GUI138 may be a video based interface having a video display. The dataprovided to GUI 138 provides the interface operator with an opportunityto visually monitor and analyze incoming data measured by a strayvoltage detection system on the video display.

FIG. 3 is a schematic diagram of a DSU 110 in accordance with someembodiments of the present invention. In some embodiments, such as wherethe DSU 110 does not have access to a ground reference, the DSU 110 mayuse a differential sensor. DSU 110 may comprise two spaced-apartmetalized plate electrodes 110 x-110 x (electrode pair 110 x), separatedby an insulating structure 302 x. The insulating structure 302 x may berigid so that vibration or other physical motion of the DSU 110 while inthe presence of static and low frequency fields does not cause spuriousoutput in the 60 Hz frequency region. The electrodes 110 x-110 x may beconnected to an amplifier 304. In some embodiments, the amplifier 304 isa high input impedance amplifier (e.g., about 60 Tera-ohms). Sensitivityof the DSU 110 is a function of the size and separation of the plateelectrodes.

The efficiency and sensitivity of the DSU 110 may be negatively affectedby interference from other electric fields. Interfering electric fieldsmay be produced by other electrified devices, such as storefront signs,electronic devices, or the like. In addition, as people move about,e.g., as pedestrians, they tend to generate electric charges on theirclothing. These interfering background electric fields caused by theelectric charges associated with people typically occur in the DC to 20Hz frequency range. The aforementioned potentially interfering electricfields may produce charges that can induce a voltage on the electrodes110 x-110 x of the DSU 110, thus reducing the sensitivity of the DSU110. This problem may be mitigated by employing feedback in theamplifier 304 (i.e., the differential pre-amplifier discussed above)that reduces its sensitivity to low frequency fields without reducingthe very high input impedance at 60 Hz that helps give the sensor system100 its high sensitivity to 60 Hz fields.

FIG. 4 is a schematic diagram of a three-axis (tri-axial) DSU 110 inaccordance with some embodiments of the present invention. A three axisarrangement may be employed to make X, Y and Z-axis electric fieldmeasurements simultaneously. The DSU 110, depicted schematically inrelation to a manhole cover MHC, comprises three pairs of spaced apartelectrodes 110 x-110 x, 110 y-110 y, 110 z-110 z (electrode pairs 110 x,110 y, 110 z), of the sort shown in FIG. 2 arranged in three mutuallyorthogonal directions and each supported by an insulating structure 302x, 302 y, 302 z. A high input impedance amplifier 304 may be associatedwith each pair of electrodes, and may be embodied in any arrangement ofdifferential circuitry, of single ended circuitry, or a combinationthereof, as may be convenient.

FIG. 5 is a schematic diagram of DSU 110 in accordance with someembodiments of the present invention. In some embodiments, DSU 110 mayfurther comprise at least one pair (three shown) of electricallyconductive auxiliary electrodes 500 x-500 x, 500 y-500 y, 500 z-500 z(auxiliary electrode pairs 500 x, 500 y, 500 z) in addition to theelectrode pairs 110 x, 110 y, 110 z. The auxiliary electrode pairs 500x, 500 y, 500 z may be supported in a similar manner as the electrodepairs 110 x, 110 y, 110 z as described above. In some embodiments,auxiliary electrodes 500 x-500 x, 500 y-500 y, 500 z-500 z may be planarand disposed generally parallel to each other and outboard of electrodepairs 110 x, 110 y, 110 z (further from the center of DSU 110) alongtheir respective axis.

The auxiliary electrodes 500 x-500 x, 500 y-500 y, 500 z-500 z may beany shape or size suitable to allow for accurate measurements. In someembodiments, the auxiliary electrodes 500 x-500 x, 500 y-500 y, 500z-500 z may be smaller, the same size, or larger than the electrodes 110x-110 x, 110 y-110 y, 110 z-110 z. In some embodiments, the auxiliaryelectrodes 500 x-500 x, 500 y-500 y, 500 z-500 z are about two times thesize of electrodes 110 x-110 x, 110 y-110 y, 110 z-110 z, and may bedisposed to define a cube that is about two times as large as that of acube defined by the electrode pairs 110 x, 110 y, 110 z. In someembodiments, auxiliary electrodes 500 x-500 x, 500 y-500 y, 500 z-500 zmay be positioned generally parallel to electrodes 110 x-110 x, 110y-110 y, 110 z-110 z, respectively.

In some embodiments, for example where electrode pairs 500 x, 500 y, 500z, are utilized, the electrode pairs 500 x, 500 y, 500 z areelectrically floating, i.e. they are not electrically connected to anyof electrode pairs 110 x, 110 y, 110 z, or to DSU 110 or sensor system100. When not electrically connected, auxiliary electrode pairs 500 x,500 y, 500 z, may alter the electric field, but do not unacceptablyaffect the sensing thereof by electrode pairs 110 x, 110 y, 110 z.

In some embodiments, when it is desired to confine or to direct thesensitivity of the electrode pairs 110 x, 110 y, 110 z, in a particulardirection, then one or more of auxiliary electrodes 500 x-500 x, 500y-500 y, 500 z-500 z, are connected to one or more other auxiliaryelectrodes 500 x-500 x, 500 y-500 y, 500 z-500 z. One such connection isto make an electrical connection between the auxiliary electrode pairs500 x, 500 y, 500 z that are on the same axis.

In some embodiments, for example, when a high voltage source isoverhead, as where high tension electrical power distribution lines areoverhead, the auxiliary electrodes 500 z-500 z, which are spaced apartalong the Z (or vertical) axis, may be connected together while makinglateral (i.e. fore-aft and left-right) field measurements. As a resultof this connection of auxiliary electrodes 500 z-500 z, verticallyoriented fields, or at least primarily vertically oriented fields, fromoverhead sources are kept from leaking into or causing signal output onthe X and Y axis electrode pairs 110 x, 110 y, or at least the effect ofsuch vertically oriented fields on the X and Y axis electrode pairs 110x, 110 y is substantially reduced. In addition, the pair of auxiliaryelectrodes 500 z may be connected to a reference point, or to a ground,if available. Alternatively, any auxiliary electrode pair 500 x, 500 y,500 z, may be connected together to similarly alter directionalsensitivity.

In some embodiments, for example, when a high voltage source isalongside, as where high tension electrical power distribution equipmentis nearby and close to ground level, the two pair of auxiliaryelectrodes 500 x and 500 y, which are spaced apart along the X and Y (orlateral) axes, may be respectively connected together while makingvertical (i.e. Z axis) field measurements. As a result of theseconnections of auxiliary electrode pairs 500 x, 500 y, laterallyoriented fields, or at least primarily laterally oriented fields, fromground-level sources are kept from leaking into or causing signal outputon the Z axis sensor electrode pair 110 z, or at least the effect ofsuch laterally oriented fields on the Z axis sensor electrode pair 110 zis substantially reduced. In addition, and optionally, the pairs ofauxiliary electrodes 500 x, 500 y may be connected to a reference point,or to a ground, if available. Alternatively, any two pair of auxiliaryelectrodes 500 x, 500 y, 500 z, may be connected together to similarlyincreasing directional sensitivity.

In some embodiments, for example as depicted in FIG. 6, auxiliaryelectrodes 500 x-500 x, 500 y-500 y, 500 z-500 z, may be selectivelyconnectable to each other by switches S1 x, S1 y, S1 z, respectively.The switches S1 x, S1 y, and S1 z are sufficient to provide the desiredrespective selectable switching function for auxiliary electrode pairs500 x, 500 y, 500 z so as to enable the selective directing of thesensitivity of the electrode pairs 500 x, 500 y, 500 z, respectively.Control of switches S1 x, S1 y, S1 z may be effected using computer 136via DPS 112, by activating respective toggle-type commands using GUI 138of computer 136, although other control arrangements may be employed.

In any of the embodiments described above, any electrode pairs 110 x,110 y, 110 z utilized may be connected to a common reference point,which could be ground, if a ground is available, or could be a powersupply line or a power supply common line or could be a vehiclestructure. The common reference may be any reference point that islikely to be relatively fixed in potential relative to the potentialsutilized by sensor system 100.

While the foregoing describes an embodiment comprising having six (threepair of) electrodes 110 x-110 x, 110 y-110 y, 110 z-110 z, and six(three pair of) auxiliary electrodes 500 x-500 x, 500 y-500 y, 500 z-500z, such is not necessary. Typically any number of pairs of auxiliaryelectrodes that is less than or equal to the number of pairs ofelectrodes may provide a useful arrangement, and a greater number ofauxiliary electrodes could be provided. For example, in a circumstancewhere the vertical field sensing electrodes 110 z are omitted, it may bedesirable to retain auxiliary electrodes 500 z for directing thesensitivity for sensing non-vertical fields.

FIG. 7 is a schematic diagram of a tri-axial DSU 110 mounted in a radardome (radome) arrangement in accordance with some embodiments of thepresent invention. The electrodes 110 x-110 x, 110 y-110 y, 110 z-110 zmay be positioned as if on the six surfaces of a cube, or may besupported by a cube-like structure 702. In addition, the cube-likestructure may be additionally supported by a support structure 704. Thecube-like structure 702 and support structure 704 may be constructed ofany suitable material that would provide structural support and notinterfere mechanically or electrically with the DSU 110. For example,the cube-like structure 702 or support structure 704 may comprise aninsulating material, a dielectric plastic (e.g. PVC), Styrofoam™,urethane foam, wood, plywood, or the like. The support structure 704 maybe employed to suspend the cube a sufficient distance from the vehiclecarrying the DSU 110 or the ground surface so that the effects ofmovement of the cube, e.g., due to vehicle movement, surface (pavement)irregularities, vehicle suspension motion, and/or cube support movement,is relatively small relative to the distance from the vehicle and fromthe ground.

FIGS. 8-8A are schematic diagrams of an isometric view and a top view ofa tri-axial DSU 110 mounted in a radome arrangement in accordance withsome embodiments of the present invention. DSU 110 comprises four sides832 joined at corners of a cube. Each of sides 832 is trapezoidal inshape comprising a square portion defining one side of a cube and acontiguous triangular portion 833 that serves as a stiffening member inconjunction with base 834 to which sides 832 are fastened. Base 834 is asquare having a side length substantially the tip-to-tip dimension ofadjacent sides 832, with the tips at the corners of base 834. A squaretop 838 is fastened to sides 832. Internal to DSU 110 are a pair ofsubstantially rectangular stiffeners 836 that intersect substantiallyperpendicularly and are fastened at the mid-lines of respective sides832, and to base 834 and top 838. Additional stiffeners 839 may beprovided at the corners of DSU 110 at an angle inside the cornersdefined by stiffeners 833 and their respective adjacent sides 832.

In the embodiments described above with respect to FIGS. 7 and 8A-B,high input impedance amplifiers (not shown) associated with the threepairs of electrodes 110 x-110 x, 110 y-110 y, 110 z-110 z may bedisposed within the cube defined by electrodes 110 x-110 x, 110 y-110 y,110 z-110 z.

While a cubical arrangement of electrodes 110 x-110 x, 110 y-110 y, 110z-110 z have been described above, other non-cubical arrangements may beemployed, e.g., a rectangular solid or a spherical arrangement.Likewise, while square electrodes 110 x-110 x, 110 y-110 y, 110 z-110 zare shown, electrodes 110 x-110 x, 110 y-110 y, 110 z-110 z may becircular or rectangular or hexagonal or any other suitable shape.

In some embodiments, such as depicted in FIG. 9, the DSU 110 may bemounted on a support frame base 902 that is mounted to a vehicle, suchas directly to a car or truck, or to a wheeled trailer 904 capable ofbeing towed by a vehicle. The support frame base 902 may be constructedof any suitable material that would provide structural support and notinterfere mechanically or electrically with the DSU 110, such as aninsulating material, a dielectric plastic (e.g. PVC), wood, plywood, orthe like. In some embodiments, the support frame base 902 may beconstructed of wood to provide for a rigid structure, while alsoproviding damping so that resonances near 60 Hz may be avoided. In someembodiments, other insulating materials may be employed consistentlywith the high-input impedance of differential pre-amplifiers forelectrodes 110 x-110 x, 110 y-110 y, 110 z-110 z.

The support frame base 902 may comprise a compartmented frame 962 havinga top and bottom faces which can be filled with ballast. Thecompartmented frame 962 may be filled with a sufficient amount ofballast to approach the load weight limit for the trailer 904, e.g.,about 100 pounds below the weight limit, so as to reduce the naturalfrequency of the trailer 904 and its suspension. In some embodiments,support frame base 902 is mounted to the bed of trailer 904 by fouroptional vibration isolators 966 located respectively at each of thefour corners of support frame base 902 so as to reduce the naturalfrequency well below 60 Hz, e.g., to about 12.5 Hz.

In some embodiments, support frame base 902 is mounted directly to thebed of trailer 904 and DSU 110 is cantilevered behind trailer 904 on asupport structure 906 comprising at least one outrigger (two shown) 942that extend rearward so that DSU 110 is positioned behind the trailer904. In some embodiments, DSU 110 may be positioned sufficiently enoughaway from the trailer 904 as to eliminate or reduce interference frommetal surfaces or electrical sources on the trailer 904. In someembodiments, DSU 110 is positioned from about 0.9 to about 1.6 meters(about 3 to about 5 feet) from the from the rear of support frame base902 and trailer 904, and about 0.9 to about 1.6 meters (about 3 to about5 feet) above the ground (e.g., pavement).

Outriggers 942 may further comprise at least one (two shown) transversemembers 944 to provide additional strength. Rearward portions of trailer904, such as the rear cross member, may be removed to further separateDSU 110 from metal that could distort the field being sensed.

In some embodiments, either fixed outriggers or telescoping or otherform of collapsible outrigger or extension could be employed so that theDSU 110, may be moved closer to the vehicle (i.e. stowed) for transitand farther from the vehicle (i.e. deployed) for operation to facilitateadjusting the sensitivity of DSU 110.

While a vehicle-borne sensor system 100 is described, it is contemplatedthat apparatus employing the arrangements and methods described hereinmay be provided in a case or backpack that could be carried by a person.In such embodiments, computer 136 may be a personal digital assistant orother small device.

FIGS. 10-21 illustrate exemplary displays that may be provided on videodisplay of GUI 138 for monitoring and controlling the operation ofsensor system 100, in accordance with some embodiments of the presentinvention. To best understand the invention, the reader should refer toFIGS. 10-21 simultaneously.

As previously described, GUI 138 may be provided on a computer 136. Uponstart up of GUI 138 of sensor system 100, for example, by selecting orclicking an icon displayed on the “desktop” provided on a monitordisplay of a computer 136, a computer program for providing GUI 138 willinitialize a main display 1000, as illustrated in FIG. 10. The GUI 138may run on a computer 136 running any suitable operating system, such asMicrosoft Windows®, Linux®, Ms-Dos®, Mac Os®, or the like, for providingvisual or audible information regarding the sensing of stray voltageanomalies in an electric field relative to a user selected manualthreshold value or an automatically determined threshold value.

Main display 1000 provides an interface user with a real-time monitoringenvironment of the area being patrolled for stray voltage anomalies.Main display 1000 may be comprised of a video display 1002 and a controlpanel 1004. Real-time electric field measurements and video frames ofthe patrolled environment may be provided in video display 1002, whichis supplemented with a graphical plot having an x-axis 1002 x indicativeof the linear distance traveled by the patrol vehicle versus a y-axis1002 y indicative of the signal strength of the measured electric fieldassociated with various locations of the patrol vehicle. In order toinitiate the detection and monitoring system of sensor system 100, theinterface user may select a run command option 1006 provided on maindisplay 1000.

Run command option 1006, when selected, will prompt for information tobe entered in an initial identification screen. The initialidentification screen may be, for example, system login display 1100 ofFIG. 11. System login display 1100 may request an the interface operatorto provide a username in field 1102, a patrol vehicle name in field 1104and a patrol vehicle number in field 1106 for purposes of authorizingaccess to the operational and monitoring controls of sensor system 100.When the required information has been provided by the interfaceoperator in fields 1102, 1104 and 1106, the interface operator may thenselect login command option 1108 to proceed with system verification ofauthorized access to sensor system 100. Similarly, the interfaceoperator may select cancel command option 1110 to terminate loginprocedures for sensor system 100.

Upon a successful login at display 1100, data sampling is initiated andmain display 1000 is populated with sensor data, as illustrated in themain display 1000 of FIG. 12. Sensor data is provided on video display1002, which may be provided in a split screen format for displayingmultiple video image frames (one from each camera). Multiple splitscreen views 1202, 1204 may display video image frames received from oneor more cameras contained in the ISU 106. For example, as describedabove with respect to FIG. 1, a patrol vehicle may be equipped with twocameras positioned on opposing sides for providing corresponding videoimage frames from both sides of the patrol vehicles path of travel.Although main display 1000 of FIG. 12 is shown with two split screens1202 and 1204, additional split screens may be incorporated into videodisplay 1002 to facilitate the utilization of more than two cameras.

Three plot lines, a raw electrical field measurement plot 1206, anadaptive threshold plot 1208 set relative to the local ambient orbackground noise level and a smoothed plot 1210 are provided inconjunction with the graphical plot overlaid on the video image framesdisplayed on video display 1002. Adaptive threshold plot 1208 isgenerated from data gathered before and after the raw voltage was sensedby the DSU 110. Smoothed plot 1210 is a smoothed version of rawelectrical field measurement plot 1206 that has been filtered to removespurious content. A potential stray voltage is indicated when smoothedplot 1210 exceeds adaptive threshold plot 1208.

Control panel 1004 of main display 1000 provides the interface operatorwith a plurality of monitoring and control options. An enlarged view ofcontrol panel 1004, as illustrated in FIG. 12, is provided and describedwith respect to FIG. 13. Control panel 1004 may include a system monitorindicator 1302, an audio threshold indicator 1304 and an audio snoozeindicator 1306. In addition, a clear command option 1308, a suspendcommand option 1310, a preferences command option 1312, an event capturecommand option 1314 and a stop command option 1316 are provided to theinterface operator in control panel 1004. Control panel 1004 may alsoprovide information in a latitude display 1318, a longitude display1319, an address display 1320, a signal strength display 1322, a speeddisplay 1324 and a time stamp display 1326.

Indicators 1302, 1304 and 1306 may be visual indicators, configured tochange color or blink upon satisfaction of preprogrammed criteria.System monitor indicator 1302 may be a green color when operating withinsystem specifications. When a problem is detected in connection with GUI138, system monitor indicator 1302 may turn yellow to notify theinterface operator that there exists a problem, such as, lack of a GPSsignal. In this case, no latitude, longitude or address information maybe shown, respectively, in displays 1318, 1319 and 1320. Anotherpotential trigger indicative of a problem is lack of video or electricfield measurement data, wherein there would be no video image frame ormeasurement readings on video display 1002. Other potential problemsthat may trigger indicator 1302 may be depleted disk space for recordingcaptured events (described in detail below) or loss of communicationbetween DPS 112 and GUI 138.

Generation of an audible tone output signal having a pitch that isproportional to the signal strength of the measured electric field maybe provided as a tool in conjunction with the monitoring capabilitiesprovided in GUI 138 to aid the interface operator in determining thesource and potential danger of stray voltage anomalies. In someembodiments, the audio threshold value is indicative of the minimumvoltage level required to trigger an audible notification tone. Forexample, an optimum audio alert value for identifying stray voltageanomalies, while minimizing the number of false detections, may bepreset as a default value. Default settings may be represented by audiothreshold indicator 1304 being, for example, a green color.

However, the interface operator may adjust the default thresholdsettings provided in connection with the audible notification tone if anexcess amount of background noise interferes with accurate or efficientnotifications. By selecting preferences command option 1312 provided oncontrol panel 1004, the interface operator could be provided with apreferences display 1400, as illustrated in FIG. 14, for modifyingvalues associated with the audible tone. Therein, the interface operatorcould raise the threshold value, using audio threshold increase button1402 and decrease button 1404, to minimize or eliminate false audibletones being generated due to a noisy environment in a patrolledenvironment. Any changes made to the default audible threshold value inpreferences display 1400 may be represented by audible thresholdindicator 1304 on control panel 1004 turning yellow. The change in colorinforms the interface operator that the audible notification tone isoperating according to user defined values, not system defined defaultvalues.

Additional features that may be provided in preferences display 1400 ofFIG. 14, may be an audio snooze time option 1406, an x-axis toggleswitch 1408, a y-axis toggle switch 1410, a trace option 1414 and a DSPstring option 1416. Audio snooze time option 1406 specifies in secondshow long audio alerts are suspended when a snooze button 1306 is pushed.Snooze button 1306 may be green when default values are provided in thedisplay of snooze time option 1406 of preferences display 1400. However,similar to audio threshold indicator 1304, snooze button 1306 may alsoinclude a color indicator that changes, for example, to yellow when thedefault snooze time has been changed in preferences display 1400. Toggleswitches 1408 and 1410 permit the interface operator to adjust,respectively, the scale used in x-axis 1002 x, which measures in feetthe distance traveled since the last event capture, and y-axis 1002 y,which measures in decibels the electric field signal strength, on videodisplay 1002. Trace option 1414, when selected, allows for thelogarithmic scaling of all y-axis 1002 values in order to ensure thatvalues are easily readable and that entire plot lines appear withinvideo display 1002 of main display 1000. DSP string option 1416 may beprovided as a means for displaying processing related data, whenselected, to troubleshooting sensor system 100.

Default values for system preferences identified in display 1400 may berestored by selecting a restore defaults command option 1418. Otherwisedefined preferences may be saved and executed by selecting an “OK”command option 1420. Alternatively, if the interface operator decidesnot to make any changes, then a “CANCEL” command option 1422 may beselected. Selection of either command option 1420 or 1422 will returnthe interface operator to display 1000.

As the patrol vehicle traverses through an environment, streamingsynchronized data of the electric field strength overlaid on thecorresponding video frames of the scene being traversed at the time ofmeasurement may be displayed to the interface operator on video display1002 of main display 1000. In addition, corresponding latitude andlongitude information related to the patrolling vehicle is received byGPS receiver 142 and provided, respectively, to display fields 1318 and1319. An address corresponding to the latitude and longitude readingsprovided in display fields 1318 and 1319 may also be provided in displayfield 1320. A signal strength value may be provided in display field1322. The speed of the patrol vehicle may be presented in display field1324, along with a current data and time stamp in display field 1326.The interface operator may temporarily suspend data sampling at any timeby selecting a suspend command option 1310, clear received data byselecting a clear command option 1308 or exit GUI 138 system entirely byselecting a stop command option 1316 provided on control panel 1004 ofmain display 1000.

As the interface operator monitors the incoming streaming data on videodisplay 1002, he/she is also presented with a variable-pitch alert thatis configured for alerting the interface operator of detectedfluctuations and/or spikes in measured electric field readings thatexceed a defined threshold. Therefore, when a potential anomaly isdetected, represented for example by a rise-peak-fall in the alertpitch, a corresponding visual spike in raw voltage plot 1206, a highsignal strength value in signal strength display field 1322 or acombination thereof, interface operator may select an event capturecommand option 1314 for purposes of gathering additional information toreview the potentially detected stray voltage anomaly. Therefore, whenthe interface operator selects event capture command option 1314 oncontrol panel 1004 of main display 1000, he/she may be presented with adata collection display 1500 and an event capture display 1600illustrated, respectively, in FIGS. 15 and 16. Data collection display1500 prompts the interface operator to continue driving the patrolvehicle for a predefined distance (e.g., an additional 40 feet afterselection of event capture command option 1314) in order to collectenough data sampling information to fully analyze the background noiseassociated with the captured event. A progress bar 1502 may be providedin display 1500 to inform the interface user of the remaining distanceof travel required. Upon completion of the additional informationcollection process, represented by progress bar 1502, the interfaceoperator may stop the collection of streaming data by GUI 138 andproceed to event capture display 1600 for analyzing the captured event.The collection of streaming data may be stopped or paused by stoppingthe patrol vehicle. Alternatively, collection of additional informationpertaining to the captured event may be optionally terminated earlier,through selection of a cancel command option 1504, to permit theinterface operator to proceed to review the captured event on eventcapture display 1600 without collection of additional information.

After driving the additional distance prompted by display 1500 andstopping the patrol vehicle, processing of data related to the eventcapture may be processed (e.g. by DSU 110) and a second distinctivealert tone (e.g., a chime-like sound) may be presented to the interfaceoperator if it is determined that the processed captured measurement isnot a false alarm. Thereupon, the interface operator could furtherexamine the potential detected anomaly in event capture display 1600, asillustrated in FIG. 16. Similar to main display 1000, event capturedisplay 1600 provides a video display 1602 and a playback control panel1604. Scene scroll tabs 1603 a and 1603 b may be provided on opposingsides of display 1602 to permit the interface operator to view capturedvideo images and their corresponding electric field measurementsthroughout various positions traversed by the patrol vehicle. Eventcapture display 1600 may also provide a pinpoint indicator 1601 that maybe positioned on any part of the video display 1602 to display data andvideo for a different location. Data displayed in playback control panel1604 (described below) corresponds to the applied position of indicator1601. For example, if the interface operator would like to viewmeasurement and video data associated with a position 225 feet prior inmotion, the interface operator could use scene scroll tabs 1603 a and1603 b to move pinpoint indicator 1601 to the desired location on videodisplay 1602.

Event capture display 1600 allows the interface operator to more closelyexamine potentially detected anomalies by providing playback analysis ofthe captured event. More specifically, the interface operator maycompare raw voltage plot 1206 and adaptive threshold plot 1208 to assistin identifying the object displayed in the corresponding image framethat is most likely to be the source of the anomaly. In event capturedisplay 1600, the three plot lines may be aligned to permit theinterface operator to look for points where smoothed plot 1210 exceedsadaptive threshold plot 1208. This indicates that there exists a spikeabove the averaged background noise and, therefore, the existence of ananomaly.

Enlarged views of a detected stray voltage anomaly as it may be providedon video display 1602 of event capture display 1600 of FIG. 16 isillustrated in conjunction with FIGS. 17-18. In FIG. 17, pinpointindicator 1601 is positioned near the peak of spike in raw voltage plot1206. All related sensor data related to this particular position isprovided to the interface operator on playback control panel 1604. Ascan be seen near the spike in raw voltage plot 1206, smoothed plot 1210exceeds adaptive threshold plot 1208, indicative of a potentiallydangerous anomaly in the captured scene. When pinpoint indicator 1601 ispositioned over the peak of a spike, the object most centered in a videoframe on video display 1602 is likely the source of the detectedanomaly. An isolated enlarged view, as illustrated in FIG. 18, of thevideo image frame shown on video display 1602 of event capture display1600 may be provided, wherein it can be seen that an object 1800 mostcentered in the video frame is likely the source of the detectedanomaly. The video image frame may be isolated and enlarged by selectinga full screen command option 1906 (described below with respect to FIG.19) from playback control panel 1604.

An enlarged view of event capture control panel 1604 is illustrated inFIG. 19. Event capture control panel 1604 is comprised of a play commandoption 1902, a pause command option 1904, a full screen command option1906, a preferences option 1908 and a main display option 1910. Playcommand option 1902 may allow the interface operator to play a videoclip selected from a saved events section 1916. Similarly pause commandoption 1904 may allow the interface operator to pause playback of thevideo clip selected from saved events section 1916. Full screen commandoption 1906 may allow the interface operator to toggle betweenfull-sized video images and regular-sized video images provided.Preferences command option 1908 may provide the interface operator withadditional playback and review options not shown on playback controlpanel 1604. For example, command option 1908, when selected, may providepreferences related to wireless communication of captured events todispatch a remote crew. Main display option 1910 may allow the interfaceoperator to return to main display 1000. A disable plotting option 1912may also be provided, wherein the plots may be removed for a clearerview of scene objects displayed on video display 1002 when option 1912is selected.

Once a detected stray voltage anomaly has been confirmed by theinterface operator and an object has been determined to be the likelysource of the anomaly, the interface operator may then proceed to recordobject related information in an objects section 1918 of playbackcontrol panel 1604. FIG. 20 provides an enlarged view of objects section1918. An environmental object or infrastructure name may be listed in apredefined objects scroll menu 2002 or may be defined by the interfaceoperator using an object identification field 2004. The interfaceoperator may then add the object identified in predefined objects scrollmenu 2002 or object identification field 2004 to a selected object field2008 using, respectively, an add command option 2006 or an add commandoption 2003. An added object identified in selected object field 2008may also be removed by selecting a remove command option 2007.Additional notes, comments and instructions may be provided by theinterface operator using a comments field 2010. For example, theinterface operator may identify a lamp post, in selected object field2008, as the potential source of a detected stray voltage anomaly andinstruct, in comments field 2010, the need for a utility crew to bedispatched immediately to the site to neutralize the source. Inaddition, GUI 138 is configured so that if multiple objects aredetermined to be present in a scene where an anomaly was detected, theinterface operator may identify the multiple objects in selected objectfield 2008. The interface operator may then select a save event commandoption 1914 to record the identified object source of the anomaly,associated comments regarding the anomaly and anomaly locationinformation for future reference and analysis of the captured anomalyevent in the saved event section 1916. Thereafter, the interfaceoperator may return to main display 1000, via command option 1910, andrestart movement of the patrol vehicle to restart data sampling of thescene being traversed.

FIG. 21 is an enlarged view of the saved events section 1916. Capturedevents that have been previously saved by the interface operator may beviewed in the saved events section 1916 by selecting a saved event filefrom the event listing 2102. To open a saved event provided in eventlisting 2102, the interface operator, or any other applicable user, mayselect the desired event and then select a load event command option2104. When the desired event is loaded, display 1600 is populated withall data related to the selected event (e.g., location information,object identification, comments, captured video image frame andcorresponding measurement data). To play the video associated with aloaded event, the interface operator may move the pinpoint indicator1601 to the desired starting location on video display 1602 in whichhe/she wishes to begin viewing and select play command option 1902.

Information that has been populated, for example, into objects section1918 may be edited. For instance, if it is determined that an objectpreviously identified as the source of a stray voltage anomaly is notindeed the source of the anomaly, selected objects field 2008 may beedited using commands 2006 and 2007 to, respectively, add a new sourceand remove the inaccurate source. Once changes have been made, theinterface operator may select an update command option 2106 to have thenew information saved in connection with the previously saved event.

When an event is saved, GUI 138 may be configured to generate a databaseentry for the saved event and create separate files for video andcorresponding sensor related data. For example, GUI 138 may beconfigured to create an AVI file for storing video images and an XMLfile for storing all other sensor related data. These files may be savedon a hard disk (e.g., memory component) and retrieved when thecorresponding event is selected and loaded using playback control panel1604 on event capture display 1600. If it is determined that savedevents are no longer needed or have been archived elsewhere, oralternatively, if additional storage space is needed, the interfaceoperator may delete using command options 2108 and 2110 provided onsaved events section 1916 of playback control panel 1604.

An illustrative depiction of the general steps employed in use of GUI138 of sensor system 100 for monitoring and controlling the detection ofa stray voltage anomaly is described with reference to the flowchart ofFIG. 22. As previously described, the monitoring of streaming datadisplayed on video display 1002 of GUI 138 is initiated, at step 2202,by providing user login information at step 2204. If the logininformation provided at display 1100 of FIG. 11 is determined to be foran authorized user, then GUI 138 may begin to sample data and provide avisual output of streaming data, at step 2208, on main display 1000,which may be driven by movement of the patrol vehicle equipped withsensor system 100.

GUI 138 of sensor system 100 may audibly, via a variable-pitched alerttone, and visually, via a spike in plots provided on graphical videodisplay 1002, prompt the interface operator upon detection of a strayvoltage anomaly at step 2210. When initial detection of a potentialanomaly is detected at step 2210, interface operator may decide tocapture the event by selecting event capture command option 1314provided on control panel 1004 of main display 1000 at 2214. In responseto the user initiated instruction to capture an event, additionalprocessing may be executed to collect additional information about thecaptured event and an additional alert notification may be provided tothe interface operator at 2216, indicating to the interface operatorthat the subsequent processing of the captured event is likely a strayvoltage anomaly.

Playback controls are provided to the interface operator, at step 2218,via control panel 1604 on event capture display 1600 of FIG. 16. Afterthe interface operator has had an opportunity to review informationrelated to the captured event, as well as identify the source emittingthe stray voltage anomaly, he/she may record the event at step 2220.Thereafter, the interface operator may elect to resume data sampling ofthe area being patrolled at 2224, thereby reinitiating the receipt ofstreaming data at main display 1000. GUI 138 may go into a standby mode,at step 2226, if no action is taken after a predetermined amount of timeor, alternatively, if the interface operator elects to suspend datasampling by selecting, e.g., suspend command option 1310 on controlpanel 1004 of main display 1000.

FIGS. 23 and 23A are graphical representations of a theoretical electricfield profile and a measured electric field profile, respectively. Theabscissa thereof represents distance x (in arbitrary units) and theordinate thereof represents normalized electric field as a function ofdistance F(x).

The output signal from DSU 110 described herein may contain aconsiderable amount of noise due to detection of background 60 Hzelectric field. Due to the motion of DSU 110 in this background field,the amplitude of the background noise signal produced thereby isconstantly changing, even when the strength of the background electricfield is constant. Further, movement of the DSU 110 in any electricfield (even a static field, such as one generated by the air flow overthe surface of a vehicle tire) results in modulation of such field and,in general, in the generation of a phantom 60 Hz signal. Under suchcircumstances, discriminating between a legitimate stray voltageelectric field and background noise becomes difficult and requiresprolonged training of the operator, combined with a high level ofoperator concentration during the operation of the equipment.

A method for automatically discriminating between a legitimate strayvoltage signal and background noise can supplement the processing andreduce the stress imposed on the operator. The method described is basedon Coulomb's law, which states that the magnitude of the electric fieldof a point charge is directly proportional to the charge (Q) andindirectly proportional to the square of distance (r) from the pointcharge: E=kQ/r², wherein proportionality is indicated by a selectableconstant (k).

Considering the geometry, where the DSU 110, passes the point charge ona straight line at a minimum distance of R (either directly above thepoint charge or on the side of the charge or both), the electric fieldmagnitude as a function of distance x from the closest approach (xequals 0) is given by: E(x)=kQ/(R²+x²).

Qualitatively, the theoretical electric field profile F(x) as the DSU110 passes by is depicted in FIG. 22 and is in very good agreement withactual measurements of electric field profile F(x) as shown in FIG. 23Athat were made using a DSU 110 as described herein.

Although the location of the source of a stray voltage anomaly orcondition is not known, the characteristic of the observed electricfield variation F(x) in time remains the same and thus, if it isnormalized with respect to time and amplitude, it can be discriminatedfrom other temporal signal fluctuations (noise). Normalization in timeis accomplished by varying the rate at which the Fast Fourier Transform(FFT) of the sensed electric field is re-performed as a function of thelateral speed of the DSU 110, e.g., the speed of the vehicle on whichDSU 110 is mounted. Normalization in amplitude is accomplished byobserving the ratio between the amplitude of a fresh sample of thesensed electric field and a running average from the amplitudes of allpast samples thereof.

Specifically, normalization in time is accomplished by varying thefrequency at which the FFT is performed, such as performing one FFT perunit of travel of the DSU 110. For example, one FFT could be performedper every unit of distance (e.g., a foot or meter) of travel, e.g., asmeasured by the wheel speed sensor 144 sensing wheel 146 rotation or bya distance measuring wheel. Preferably, the time period between FFTsampling should be rounded such as to be an integer multiple of theperiod of the monitored electric field signal (in this example, aninteger multiple of 1/60 sec. for a 60 Hz signal).

FIG. 24 is a schematic flow diagram illustrating a method 2400 forobtaining a running average (termed FLOAT) and alarm trigger (ALARM=1),in accordance with one embodiment of the present invention. A runningaverage is difficult to calculate on a sample with an open ended numberof data points, and calculating an average from the last N samples maynot be satisfactory unless the number N is very large, which can imposeundue demands on DSP 124 and memory 126. Instead, a modified runningaverage algorithm may be employed and is described in relation to thealgorithm flowchart shown in FIG. 24, which also illustrates theconditions for activating the alarm condition (ALARM=1).

Method 2400 starts at 2402 with an initialization 2404 of time t, anaverage, represented by FLOAT(t), and the alarm value ALARM. For eachtime t thereafter (referred to as a “fresh time”), the time value orsample rate is updated 2406 by an increment value S that is related tospeed, e.g., the output of wheel speed sensor 144. For example, theinterval S may correspond to a ¼ revolution of wheel 146, e.g., fourdetections per wheel revolution. Thus, if the vehicle carrying system100 moves faster, then the sampling time t=t+S becomes shorter and theaverages and processing occurs more frequently. Conversely, if thevehicle moves more slowly, then the sampling time increases. Theprocessing interval may be thought of as being fixed in space, ratherthan in time. This variable time interval implements the processing ofsensed voltage data as a function of the speed of sensor system 100 toproduce signals of the sort illustrated in FIGS. 23 and 23A.

When the probe is stopped, i.e. its speed is zero, no furthercalculation is made, which is not of concern because no additionalvoltage field data is being sensed that would need to be averaged. DPS112 will continue to process stray voltage sensed by DSU 110 even if theDSU 110 is stopped. However, periodic comparisons 2408 of the presentvalue of SIG 60 (t) could be made so that the alarm function 2410remains operative in the event that a stray voltage appears during thetime the DSU 110 is stopped.

For each fresh time t=t+S, the filtered and processed 60 Hz signal [SIG60 (t)] produced by the Fast Fourier Transform described above iscompared 2408 with the threshold above the previous average[THD*FLOAT(t−S)] of the previous time and if greater than or equal tothe threshold (2408=YES), then the average [FLOAT(t)] is updated 2410 byadding the fresh value SIG 60 (t) adjusted by a weighting factor [K 1]to the previous average [FLOAT(t−S)] and, because the threshold isexceeded, the alarm is set [ALARM=1] to cause an audible and/or visualalarm to be provided. If not (2420=NO), the fresh 60 Hz signal SIG 60(t) is compared 2412 with the previous average [FLOAT(t−S)] and ifgreater (2412=YES), then the average [FLOAT(t−S)] is updated by addingthe fresh value SIG 60 (t) adjusted by a weighting factor [K 2] and thealarm remains not set [ALARM=0]. If not (2412=NO), the 60 Hz signal iscompared 2416 with the previous average [FLOAT(t−S)] and if less(2416=YES), then the average [FLOAT(t−S)] is updated by subtracting thefresh value SIG 60 (t) adjusted by a weighting factor [K3] and the alarmremains not set [ALARM=0]. If none of the foregoing comparisons 2408,2412, 2416 produces a YES condition, then the average [FLOAT(t)] remains2420 the previous average [FLOAT(t−S)], alarm remains not set [ALARM=0],and the process is repeated (to 2406) for the next time increment t+S.

The constants K1, K2, K3 and THD depend on the background noisecharacteristics, the desired sensitivity of the discrimination, and thelevel of tolerable false alarms. Because it is not desirable that therelatively higher values of SIG 60 (t) when a stray voltage exceedingthreshold is detected (2408=YES) cause the average FLOAT (which mayrepresent background signals and noise) to increase correspondingly, arelatively lower scaling factor K 1 is utilized under that condition. Italso appears desirable that FLOAT increase less strongly for noise inexcess of the average FLOAT than for noise less than the average FLOAT.Because large changes are weighted less than small changes, thisselection of constants tends to produce a result that is akin tolow-pass filtering, because the effect of large short-term changes isdiminished. Analysis of available data suggests that values of weightingfactors K1=0.002, K2=0.02, K3=0.04 and of the threshold factor THD=2.4may be a reasonable starting point for an application involving sensingstray 60 Hz voltages in a utility service (e.g., street) environment.

FIG. 25 is a graphical presentation of an example of data produced bythe method 2400 described in relation to FIG. 24. The abscissarepresents units of time t (or of distance) whereas the ordinaterepresents units of amplitude. Data points SIG 60 (t) represent thevalue of electric field sensed by DSU 110 versus time t as the sensorsystem 100 moves along a path. SIG 60 (t) exhibits a peak in the strayvoltage in the region of values of about 60-100, and relatively lowvalues both before and after the peak. The values of SIG 60 (t) areaveraged (e.g., the FLOAT averaging as described above) and present asthe graph line FLOAT which remains relatively low and stable (e.g.,about 0.1 units) where no significant field is detected, but whichincreases in the region where a peak of the field SIG 60 (t) occurs.When the detected field value SIG 60 (t) exceeds the threshold, e.g.,set at about 2.4 FLOAT, the high detected field value causes the alarmto change from no alarm [ALARM=0] to the alarm [ALARM=1] condition toproduce an audio tone and/or visual indication thereof to the user.

As used herein, the term “about” means that dimensions, sizes,formulations, parameters, shapes and other quantities andcharacteristics are not and need not be exact, but may be approximateand/or larger or smaller, as desired, reflecting tolerances, conversionfactors, rounding off, measurement error and the like, and other factorsknown to those of skill in the art. In general, a dimension, size,formulation, parameter, shape or other quantity or characteristic is“about” or “approximate” whether or not expressly stated to be such.

In addition to the embodiments described above, additional features maybe provided, as desired. For example, a 60-Hz signal source locatedinside DSU 110 to couple a 60-Hz signal thereto could provide aself-test function, i.e. when a self-test is performed by energizing the60-Hz source. Sensor system 100 would then produce an audio indication,Log file, and/or other output, for a qualitative and/or quantitativetest. Further, calibration and/or performance verification could beprovided by DSU 110 and a commercially available accurate E-fieldmeasuring instrument at close range to a source of a relatively highfield strength 60 Hz signal.

FIG. 26 is a block diagram of a differential signal comparator 2604coupled to the digital signal processor 124 in accordance with exemplaryembodiments of the present invention. In such embodiments, the DSP 124may comprise at least one central processing unit (CPU) coupled to thememory 126 as well as various support circuits (i.e., well knowncircuits used to promote functionality of the CPU, such as a cache,power supplies, clock circuits, buses, input/output (I/O) circuits, andthe like). The CPU may comprise one or more conventionally availablemicroprocessors or microcontrollers; in one or more embodiments, the CPUmay be a microcontroller comprising internal memory for storingcontroller firmware that, when executed, provides the functionalitydescribed herein. In certain embodiments, the DPS 112 may be implementedusing a general purpose computer that, when executing particularsoftware, becomes a specific purpose computer for performing variousembodiments of the present invention; in one or more embodiments, theDPS 112 may additionally or alternatively comprise one or moreapplication specific integrated circuits (ASICs) for performing one ormore of the functions described herein.

As described with respect to FIGS. 1-25, the system 100 includes memory126. The memory 126 may store an operating system (OS), such as one of anumber of available operating systems for microcontrollers and/ormicroprocessors. The memory 126 also may store non-transientprocessor-executable instructions and/or data that may be executed byand/or used by the CPU. These processor-executable instructions maycomprise firmware, software, and the like, or some combination thereof.In one or more embodiments, the memory 126 further includes applicationsoftware such as the differential signal comparator (DSC) 2604 whichcompares, analyzes and processes two or more varying input signals togenerate one or more processed output signals for more accuratedetection of objects which are energized to a hazardous level. Theseobjects are generally considered hazardous because they are conductingelectricity while they normally should not be conducting electricity. Atechnician, pedestrian, animal or the like may be at risk of injury ordeath if they come into contact with a hazardously energized object,therefore accurate detection and indication is paramount. In order todetect such hazardously energized objects, the DSC 2604 processessignals received from two or more sensor probes (i.e., electrical fieldsensors). Such processing may include filtering, performing mathematicaloperations on the signals (e.g., addition, subtraction, and the like),time-shifting one or more of the signals, and any other applicableprocessing as described herein.

In some embodiments, the digital signal processor 124 receives digitalelectric field signal 2600 from a first sensor probe and digitalelectric field signal 2602 from a second sensor probe spaced apart fromthe first sensor probe as described in more detail below. Those ofordinary skill in the art will recognize that the DSP 124 may receivemore signals, but that only two are shown for clarity. In a differentialmode, the DSP 124 is aware of the configuration of various electricfield sensors located on a mobile vehicle, such a rolling cart, a car, atruck, a boat, or the like (e.g., the vehicles shown in FIG. 27-34).

The DSP 124 is coupled to memory 126, and communicates the signals 2600and 2602 to the differential signal comparator 2604. The differentialsignal comparator 2604 performs various functions, as described below,based on the mode of the DSP 124 and the mode of the DSC 2604. Forexample, in one embodiment, the DSC 2604 may perform processing on theinput signals 2600, 2602 to output a noise-reduced signal 2606 via theDSP 124—where noise has been reduced by operations performed on the twoinput signals 2600, 2602. In another embodiment, the DSC 2604 may outputan amplified signal 2608 via the DSP 124 based on the input signals2600, 2602. These signals are then communicated to the same output pathillustrated in FIG. 1 for processing and presentation—e.g., the audioamp 128 and the SPI-TORS-232 (i.e., the data converters 132), thencommunicated to the laptop computer 136. The DSP mode and the DSC modemay be pre-programmed, set by a user in real-time, or the like.

FIG. 27 illustrates a perspective view of a configuration of twoelectric field sensors 2702, 2704 mounted to the rear of an automotivevehicle 2701 in accordance with exemplary embodiments of the presentinvention.

The first electric field sensor 2702 is mounted to the right rear-end ofthe vehicle 2701 via mount 2706, while the second electric field sensor2704 is mounted to the left rear-end of the vehicle 2701 via mount 2708.

Those of ordinary skill in the art will recognize that the mounts 2706and 2708 are made of non-electrically interfering material that does notimpact the readings of the sensors 2702 and 2704.

The mounting locations receive similar mechanical input as the vehicle2701 navigates a roadway. In other words, vibration and displacementnoise would be relatively equally imposed on each sensor 2702 and 2704.While in the embodiment shown the sensors 2702 and 2704 are mounted suchthat they monitor the horizontal plane but are mounted on two differentvertical axes, other embodiments may include having the sensors 2702 and2704 located about a single axis. In other words, the sensor 2702 and2704 may both be located behind the vehicle 2701 at the center of thelane of travel on a common vertical axis.

FIG. 28 illustrates a top-down view of a configuration 2700 of the twoelectric field sensors 2702 and 2704 mounted to the rear of theautomotive vehicle 2701 in accordance with exemplary embodiments of thepresent invention. The electric field sensors 2702, 2704 are mounted atsubstantially the same height (i.e., on the same horizontal plane) andare oriented at an angle with respect to one another, which is generallymodifiable but in some embodiments may be fixed. As can be seen in theembodiment depicted in FIG. 28, the electric field sensors 2702 and 2704are mounted such that they are substantially at ninety degree angleswith each other and separated by a modifiable distance M, while in otherembodiments they may be mounted at one or more of different heights,different angles, or at a fixed distance from one another.

The effect of the positioning of the sensors 2702, 2704 will be seenwhen the automobile 2071 passes by an energized object. As a result ofhaving the sensors 2702, 2704 positioned at an angle with respect to oneanother, the outputs from the two sensors 2702, 2704 provide informationthat can be used to determine how far an energized object is from thevehicle 2701. As shown in FIG. 28, an energized manhole cover 2802 is ata distance A from the vehicle 2701, and an energized street light 2804is at a distance B from the vehicle 2701. For each of the energizedmanhole cover 2802 and the energized street light 2804, the distancesbetween the peaks of the sensor readings are a function of the anglebetween the sensors 2704 and 2702 (e.g., 90° as in FIG. 28) and theoffset distance between the path of travel and the correspondingenergized object. FIG. 29 depicts exemplary electric field sensoroutputs for the configuration shown in FIG. 28, Plot 2900 shows the leftsensor reading 2904 and the right sensor reading 2902 (i.e., thereadings from the sensors 2704 and 2702, respectively) corresponding tothe energized manhole cover 2802. The left and right sensor readings2904 and 2902 are plotted on a graph of distance vs. amplitude. Thepeaks of the left sensor reading 2904 and the right sensor reading 2902are at a distance A′ from one another, corresponding to the distance Abetween the vehicle 2701 and the energized manhole cover 2802.

Plot 2910 shows the left sensor reading 2914 and the right sensorreading 2912 (i.e., the readings from the sensors 2704 and 2702,respectively) corresponding to the energized street light 2804. The leftand right sensor readings 2914 and 2912 are plotted on a graph ofdistance vs. amplitude. The peaks of the left sensor reading 2914 andthe right sensor reading 2912 are at a distance B′ from one another,corresponding to the distance B between the vehicle 2701 and theenergized street light 2804. The plots 2900 and 2910 thus provide anindication (e.g., to a user observing the plots 2900 and 2910 on a userdisplay) of the distance between the energized objects 2802, 2804 andthe vehicle 2701. In some embodiments, the DSC 2604 may compute thedistances A and B based on the readings of the sensors 2704, 2702 andmay store and/or display the computed information.

In one particular example of determining the distance A between thetravel path of the vehicle 2701 and the energized manhole cover 2802,the distance M between the electric field sensors 2702 and 2704 of FIG.28 is zero. In order to determine the distance A, the known anglebetween the sensors 2702 and 2704 (which will be referred to here as θ)and the distance A′ that the vehicle 2701 travelled between thedetection of the energized manhole cover 2802 by the first sensor(sensor 2704 here) and the detection of the energized manhole cover 2802by the second sensor (sensor 2702 here) can be used. By using thegeometry of an isosceles triangle where A′ is the base of the triangleand θ is the apex angle of the triangle, the distance A can be computedas:A=A′/(2(tan(θ/2)))  (1)

Other calculations for the geometry where M is greater than zero wouldbe obvious to one skilled in the art.

In addition to allowing a user to determine the distance between anenergized object and the vehicle 2701, the positioning of the sensors2704 and 2702 in the embodiment of FIG. 28 (as well as in otherembodiments where both sensors 2704, 2702 are mounted at other locationson a vehicle and are horizontally spaced apart from one another alongthe direction of the width of the vehicle) allows a determination to bemade about whether an energized object is on the right or the left sideof the vehicle. If a sensor signal peak from a left-side mounted sensor(i.e., a sensor mounted on the left side of the vehicle with respect tothe direction of travel) is followed by a sensor signal peak from aright-side mounted sensor (i.e., a sensor mounted on the right side ofthe vehicle with respect to the direction of travel), the energizedobject is on the left side of the direction of travel. If a sensorsignal peak from the right-side mounted sensor is followed by a sensorsignal peak from the left-side mounted sensor, the energized object ison the right side of the direction of travel.

The DSC 2604 can combine the output of the two sensors 2702 and 2704 toproduce a difference output signal such as signal 2606 where the noiseis canceled out or reduced significantly as shown in graph 3000 in FIG.30. The signal 2606 shown in FIG. 30 has a greater signal to noise ratiothan an output signal in a single input system. Additionally, sincethere are two (or more) sensors 2702, 2704, the two (or more) responsesgenerated by the DSP 124 as the automobile 2701 passes an energizedobject enables the system 100 to differentiate a true detection fromnoise, as noise will produce only a single response.

FIG. 31 illustrates a perspective view 3001 of a configuration ofelectric field sensors 3104, 3102 mounted respectively to the front andback of an automotive vehicle 3101 in accordance with exemplaryembodiments of the present invention.

The vehicle 3101 is fitted with the first electric field sensor 3102 inthe center-rear, mounted via the mount 3106. A second electric fieldsensor 3104 is mounted to the center-front of the vehicle 3101 via mount3108. The mounts 3106 and 3108 are non-electrically interfering so as toavoid any impact on the sensor readings.

FIG. 31 further depicts a hazardously energized street lamp 3100. As thevehicle 3101 approaches and passes the street lamp 3101, the sensors3104 and 3102 each generate a signal corresponding to the sensedelectrical field. The generated signals are then processed by the DSC2604 as described herein, and the resulting processed signal or signalsare used for generating an indication of the hazardously energizedstreet lamp 3100, such as a visual indication via the GUI 138 and/or anaudio indication via the speaker 130.

FIG. 32 illustrates a back view 3200 of vehicle 3101 having the electricfield sensors 3102 and 3104 mounted to the back and front, respectively,as shown in FIG. 31. As previously described, the electric field sensor3102 is mounted to the in the center-rear of the vehicle 3101 via themount 3106.

FIG. 33 illustrates a top-down view 3300 of the same configuration ofthe electric field sensors 3102, 3104 mounted to the front and back ofthe automotive vehicle 3101 shown in FIG. 31-32 in accordance withexemplary embodiments of the present invention. The sensors 3104, 3102are substantially parallel to one another, and, as a result, as thevehicle 3101 moves forward the front sensor 3104 first detects theelectric field of an energized object, followed by the rear sensor 3102detecting the electric field of the energized object. The sensors 3104,3102 are spaced a distance D apart from one another on the vehicle 3101,and thus the rear sensor 3102 will produce an output, when the vehiclemoves a distance D forward, substantially the same as that produced bythe front sensor 3104. The expected output of sensors 3102 and 3104 whenpositioned substantially parallel to one another as shown in FIGS. 31-33is thus two responses as the vehicle 3101 approaches and passes ahazardously energized object, for instance the energized street light3100 shown in FIG. 31, with the two responses separated in time by thetime it takes for the vehicle 3101 to advance the distance D between thetwo sensors 3102, 3104. In one or more embodiments, the DSC 2604processes the received signals by time-shifting one or both signals byan amount commensurate with the difference in time between the sensorssensing the same point in the electric field; for example, for anembodiment such as the embodiment depicted in FIG. 33, one of thereceived signals may be time-shifted by the amount of time it takes forthe vehicle 3101 to travel a distance equal to the distance between thesensors 3102, 3104. The DSC 2604 may time-shift one or both of thereceived signals based on data (e.g., the distance between the sensors3102, 3104) that is pre-programmed, entered by a user, downloaded fromanother component or system, computed based on one or more receivedsignals, or by a similar technique. Subsequent to time-shifting, the twosensor signals may be added together to obtain a signal output signal,for example as shown in FIG. 35 described below. Adding the tworesponses subsequent to time-shifting commensurate with the distancebetween the sensors provides a greater signal output with significantlyless noise.

FIG. 34 illustrates a graphical plot of the output of the sensors 3102,3104 illustrated in FIGS. 31-33 in accordance with exemplary embodimentsof the present invention. A first signal 3402, received from thefront-mounted sensor 3104, is shown on a first graph 3404 of distancetraveled by the vehicle 3101 vs. amplitude; a second signal 3406,received from the rear-mounted sensor 3102, is shown on a second graph3408 of distance traveled by the vehicle 3101 vs. signal amplitude. Eachsignal 3402, 3406 contains noise received while passing the hazardousobject 3100, and the signals 3402, 3406 are separated by the time ittakes the automobile 3101 to traverse the distance between the twosensors 3102 and 3104. As such, the desired signal from the hazardousobject 3100 will appear at both sensors 3102, 3104 separated in timewhile random noise will appear simultaneously. By taking the two sensoroutputs—i.e., the signals 3402 and 3406—and applying a delay to thefront mounted sensor signal 3402 commensurate with the time for thevehicle 3101 to travel a distance 3410 equal to the sensor separation,the signals 3402, 3406 can be combined and evaluated accordingly.

FIG. 35 illustrates the combination of the two signals 3402, 3406, oneof which is time-shifted, along with the accompanied noise reduction. Acombined signal 3502 generated from the two signals 3402, 3406—one ofthe two being time-shifted—is shown on graph 3504 of distance traveledby the vehicle 3101 vs. signal amplitude. Since the noise impulseappears in both the front and rear sensors 3104 and 3102 at the sametime, and the desired signal from the hazardous object 3100 appearsseparated in time, the output of the time shift function will show thecombined signal 3502 having a maximum amplitude at twice the maximumamplitude of the original signals 3402, 3406, and the noise impulse willappear twice at the original amplitude of the noise impulse.

An alternate methodology is to add a gate function that compares thesignal from the rear sensor 3102 to the time-shifted signal from thefront sensor 3104. If an energized object is encountered, there will besimilar signals available from each of the sensors 3102 and 3104. Whenthe signals are passed to a gate function, for example a logical ANDfunction, the gate function will indicate the affirmative case. A noiseimpulse will create two signals separated in time due to the time shiftfunction. When the noise impulses are also passed to the gate function,e.g., the logical AND, the gate will indicate the negative case.

FIG. 36 is a flow diagram of a method 3600 for detecting and identifyinghazardous objects in electric fields in accordance with one or moreembodiments of the present invention. The method 3600 is, at least inpart, one implementation of the differential signal comparator 2604.

The method 3600 starts at step 3602 and proceeds to step 3604. At step3604, a signal is obtained from each sensor probe of two or more sensorprobes that are mounted spaced apart from one another on a mobilevehicle. The signals are obtained from the sensor probes as the mobilevehicle traverses an area in order to identify any hazardously energizedobjects. In some embodiments, two sensor probes may be mounted to thefront and rear of a mobile vehicle as previously described with respectto FIGS. 31-33. In other embodiments, two sensor probes may be bothmounted at the same end of the vehicle, such as the previously describedwith respect to FIGS. 27-28.

The method 3600 proceeds to step 3606, where the received signals areprocessed as previously described to generate at least one processedsignal based on a distance between at least two sensor probes of the twoor more sensor probes. In certain embodiments two received signals fromtwo sensor probes may be processed as previously described to one ormore processed signals as shown in FIGS. 29-30, 34-35, and 37. Themethod 3600 proceeds to step 3608.

At step 3608, the processed signal (or signals) from step 3606 is usedto generate an indication of a hazardously energized object, such as thehazardously energized street lamp 3100. In some embodiments, theprocessed signal may be displayed for providing a visual indication to auser of a hazardously energized object. For example, a signal such asthe signal shown in FIG. 30 may be displayed to a user for the user toidentify the hazardously energized object based on visually observingthe dual spikes in the signal, or a signal such as the signal shown inFIG. 35 may be displayed to identify the hazardously energized objectbased on visually observing the large single spike in the signal. Inother embodiments, the processed signal may be used to generate an audioindication such as a tone corresponding in pitch and/or volume to thesignal amplitude. In still other embodiments, the processor (e.g., theDSC 2604) may sense a rise-peak-fall in the processed signal followed bya similar rise-peak-fall at an interval expected based on the sensorseparation, and generate a visual and/or audio indication (e.g., alight, a tone, or the like).

The method 3600 proceeds to step 3608 where a determination is madewhether to continue. If the result of the determination is yes, themethod 3600 returns to step 3604. While the foregoing sensor, system,apparatus and method are described in terms of the 60 Hz electricalpower system frequency common in the United States and other countries,the apparatus, arrangements and methods described herein are likewiseapplicable to the 50 Hz power systems of Europe and elsewhere, to the400 Hz power systems for aircraft and other apparatus, to the 25 Hzpower systems for transportation and other applications, and to powersystems at any other frequency. Further, while the arrangement is oftendescribed in terms such as “stray voltage” and “voltage anomaly” and“stray voltage” field, it is noted that the electric field produced bythe conditions so referred to is sensed and/or detected by the describedarrangement.

FIG. 37 illustrates user displays 3700 and 3701 showing outputs of theelectric field sensors 3104, 3102 of FIG. 33 in accordance withexemplary embodiments of the present invention. As previously described,the electric field sensors 3104 and 3102 are positioned at thecenter-front and center-rear, respectively, of the vehicle 3101.

The user display 3700 shows sensor output 3704 (i.e., received from thesensor 3104) positioned above a time-shifted sensor output 3702(received from the sensor 3102 and time-shifted by the amount of time ittakes for the vehicle 3101 to travel the distance D between the sensors3104, 3102). As can be seen, the sensor output 3704 and the time-shiftedsensor output 3702 do not display any peaks of similar amplitude atsubstantially the same time, thereby indicating no hazardously energizedobjects were detected (i.e., a negative indication for a hazardouslyenergized object). A user can thus visually determine that nohazardously energized objects have been detected.

The user display 3701 shows sensor output 3714 (i.e., received from thesensor 3104) positioned above a time-shifted sensor output 3712(received from the sensor 3102 and time-shifted by the amount of time ittakes for the vehicle 3101 to travel the distance D between the sensors3104, 3102). As can be seen, the sensor output 3714 and the time-shiftedsensor output 3712 display peaks 3724 and 3712, respectively, ofsubstantially the same size and shape and occurring at substantially thesame time, thereby indicating a hazardously energized object has beendetected (i.e., a positive indication for a hazardously energizedobject). A user can thus visually determine that a hazardously energizedobject has been detected.

While the foregoing is directed to embodiments of the present invention,other and further embodiments of the invention may be devised withoutdeparting from the basic scope thereof, and the scope thereof isdetermined by the claims that follow.

The invention claimed is:
 1. An apparatus for detecting and identifyinghazardous objects in electric fields comprising: two or more sensorprobes mounted on a mobile vehicle and spaced apart from one another,wherein each sensor probe of the two or more sensor probes generates asignal corresponding to an electrical field; a processor, coupled to thetwo or more sensor probes, for processing the signals from the two ormore sensor probes to generate at least one processed signal based on adistance between at least two sensor probes of the two or more sensorprobes; and an indicator, coupled to the processor for providing, basedon the at least one processed signal, an indication of a hazardouslyenergized object in the electric field.
 2. The apparatus of claim 1,wherein the two or more sensor probes are mounted at locations on themobile vehicle that receive similar mechanical input due to motion. 3.The apparatus of claim 1, wherein the two or more sensor probes comprisea first sensor probe and a second sensor probe mounted at the rear ofthe mobile vehicle.
 4. The apparatus of claim 3, wherein the first andthe second sensor probes are mounted on the same horizontal plane. 5.The apparatus of claim 4, wherein the first and the second sensor probesare mounted at a modifiable angle with respect to each other and areseparated by a modifiable distance.
 6. The apparatus of claim 1, whereinthe two or more sensor probes comprise a first sensor probe mounted atthe front of the mobile vehicle and a second sensor probe mounted at therear of the mobile vehicle.
 7. The apparatus of claim 6, wherein thefirst and the second sensor probes are mounted on the same horizontalplane.
 8. The apparatus of claim 1, wherein processing the signals fromthe two or more sensor probes comprise adding a first signal from afirst sensor probe of the two or more sensor probes and a second signalfrom a second sensor probe of the two or more sensor probes.
 9. Theapparatus of claim 8, wherein at least one of the first signal or thesecond signal is, prior to the addition of the first signal and thesecond signal, time-shifted by an amount commensurate with a distancebetween the first and the second sensor probes.
 10. The apparatus ofclaim 2, wherein each of the two or more sensor probes are mounted onthe mobile vehicle by a non-electrically interfering material.
 11. Amethod for detecting and identifying hazardous objects in electricfields comprising: obtaining a signal, from each sensor probe of two ormore sensor probes mounted on a mobile vehicle and spaced apart from oneanother, corresponding to an electrical field; processing, by aprocessor, the signals from the two or more sensor probes to generate atleast one processed signal based on a distance between at least twosensor probes of the two or more sensor probes; and generating, based onthe at least one processed signal, an indication of a hazardouslyenergized object in the electric field.
 12. The method of claim 11,wherein the two or more sensor probes are mounted at locations on themobile vehicle that receive similar mechanical input due to motion. 13.The method of claim 11, wherein the two or more sensor probes comprise afirst sensor probe and a second sensor probe mounted at the rear of themobile vehicle.
 14. The method of claim 13, wherein the first and thesecond sensor probes are mounted on the same horizontal plane.
 15. Themethod of claim 14, wherein the first and the second sensor probes aremounted at a modifiable angle with respect to each other and areseparated by a modifiable distance.
 16. The method of claim 11, whereinthe two or more sensor probes comprise a first sensor probe mounted atthe front of the mobile vehicle and a second sensor probe mounted at therear of the mobile vehicle.
 17. The method of claim 16, wherein thefirst and the second sensor probes are mounted on the same horizontalplane.
 18. The method of claim 11, wherein processing the signals fromthe two or more sensor probes comprise adding a first signal from afirst sensor probe of the two or more sensor probes and a second signalfrom a second sensor probe of the two or more sensor probes.
 19. Themethod of claim 18, wherein at least one of the first signal or thesecond signal is, prior to the addition of the first signal and thesecond signal, time-shifted by an amount commensurate with a distancebetween the first and the second sensor probes.
 20. The method of claim12, wherein each of the two or more sensor probes are mounted on themobile vehicle by a non-electrically interfering material.